PCON-CA/CFA, ACON-CA/CB/CGB, DCON-CA/CB/CGB First Step Guide Eighth Edition

Transcription

1 -CA/CFA, ACO-CA/CB/CGB, DCO-CA/CB/CGB First Step Guide Eighth Edition Thank you for purchasing our product. Make sure to read the Safety Guide and detailed Instruction Manual (DVD) included with the product in addition to this First Step Guide to ensure correct use. This First Step Guide is original manual written by only this product. Warning : Operation of this requires detailed installation and operation instructions which are provided on the DVD Manual included in the box this device was packaged in. It should be retained with this device at all times. A hardcopy of the Manual can be requested by contacting your nearest IAI Sales Office listed at the back cover of the Instruction Manual or on the First Step Guide. Using or copying all or part of this Instruction Manual without permission is prohibited. The company names, names of products and trademarks of each company shown in the sentences are registered trademarks. Product Check The standard configuration of this product is comprised of the following parts. If you find any fault with the product you have received, or any missing parts, contact us or our distributor.. Parts o. Part ame Model Reference Main Body Refer to How to read the l plate, How to read the l of the controller Accessories I/O Flat Cable CB-PAC-PIO shows the cable length Recommended cable size 3 Connector FMC./8-ST-3. (Supplier : PHOEIX COTACT) AWG6 to 0 (. to 0.mm ) Absolute Battery AB-7 or SEP-ABU* If applicable for Simple Absolute Type Serial Absolute Battery AB- If applicable for Serial Absolute Type (for ACO only) 6 First Step Guide 7 Instruction Manual (DVD) 8 Safety Guide. Teaching Tool (to be purchased separately) A teaching tool such as PC software is necessary when performing the setup for position setting, parameter setting, etc. that can only be done on the teaching tool. Please prepare either of the following teaching tools. o. Part ame Model (with RCS3C converter adapter + external communication cable) RCM-0-MW (with USB converter adapter + USB cable + external communication cable) RCM-0-USB 3 Touch Panel Teaching TB-0 Touch Panel Teaching (with Deadman Switch Attached on the Left side) TB-0D Touch Panel Teaching (with Deadman Switch Attached on the Right side) TB-0DR 6 Touch Panel Teaching CO-PTA 7 Touch Panel Teaching (with Deadman Switch) CO-PDA 8 Touch Panel Teaching (with Deadman Switch + TP Adapter (RCB-LB-TG)) CO-PGAS 3. Instruction Manuals related to this product, which are contained in the Instruction Manual (DVD). o. ame Manual o. -CA/CFA Instruction Manual ME089 ACO-CA, DCO-CA Instruction Manual ME036 3 ACO-CB Series Contoroller, DCO-CB Series Contoroller Instruction Manual ME033 RCM-0-MW/ RCM-0-USB Instruction Manual ME0 Touch Panel Teaching CO-PTA/PDA/PGA Instruction Manual ME09 6 Instruction Manual for the Serial Communication [for Modbus] ME06 7 CC-Link Instruction Manual ME0 8 Deviceet Instruction Manual ME06 9 PROFIBUS-DP Instruction Manual ME08 0 Compoet Instruction Manual ME00 MECHATROLIK-Ⅰ/Ⅱ Instruction Manual ME0 EtherCAT Instruction Manual ME073 3 Etheret/IP Instruction Manual ME078 PROFIET-IO Instruction Manual ME0333. How to read the l plate Model Serial number Model SER O. Actuator ********* ********* DC A * ***** CAUTIO: Connect the wiring correctly and properly, use IAI specified cables or min 60 C Cu wire. * 0-ac,3ph,0-333Hz, A IP0. How to read the l of the controller CA : Standard Type CFA : High-Thrust Actuator Type ACO DCO -CA-6P WAI-P--0-ABU--** 0P : 0 pulse motor, 0SP : 0 pulse motor 8P : 8 pulse motor, 8SP : 8 pulse motor P : pulse motor, P : pulse motor SP : pulse motor, 6P : 6 pulse motor 6SP : 6 pulse motor, 60P : 60 pulse motor 86P : 86 pulse motor WAI : Incremental / Battery-less Absolute Shared SA : Simple Absolute P : PP Type ( Type), PLP : Pulse Train Control PP Type ( Type), DV : Deviceet Type, CC : CC-Link Type PR : PROFIBUS-DP Type, C : Compoet Type PRT : PROFIET-IO Type, EC : EtherCAT Type EP : Etheret/IP Type, ML : MECHATROLIK-Ⅰ/Ⅱ Type ACO-CA-30 I-P--0-AB--** CA/CB : Standard Type CGB : Safety Categories Complied Type : W AC servo motor : W AC servo motor 0 : 0W AC servo motor 0S : 0W AC servo motor 0 : 0W AC servo motor 30 : 30W AC servo motor WAI : Incremental / Battery-less Absolute shared (CB only) I : Incremental A : Absolute P : PP Type ( Type), PLP : Pulse Train Control PP Type ( Type), DV : Deviceet Type, CC : CC-Link Type PR : PROFIBUS-DP Type, C : Compoet Type PRT : PROFIET-IO Type, EC : EtherCAT Type EP : Etheret/IP Type DCO-CA-3 I-P--0--** CA/CB : Standard Type CGB : Safety Categories Complied Type 3 :.W DC Brushless motor I : Incremental P : PP Type ( Type), PLP : Pulse Train Control PP Type ( Type), DV : Deviceet Type, CC : CC-Link Type PR : PROFIBUS-DP Type, C : Compoet Type PRT : PROFIET-IO Type, EC : EtherCAT Type EP : Etheret/IP Type, ML : MECHATROLIK-Ⅰ/Ⅱ Type <Applicable to Simplified Absolute Unit> (ot Specified): Incremental / Battery-less Absolute AB : Simple Absolute Type (With the Absolute Battery) ABU : Simple Absolute Type (With the Absolute Battery Unit (SEP-ABU)) ABU : Simple Absolute Type (With no Absolute Battery) <-supply Voltage> 0 : DC : m (Standard) <Applicable to Simplified Absolute Unit> AB : Simple Absolute Type (With the Absolute Battery) ABU : Simple Absolute Type (With the Absolute Battery Unit (SEP-ABU)) ABU : Simple Absolute Type (With no Absolute Battery) <-supply Voltage> 0 : DC : m (Standard) <-supply Voltage> 0 : DC : m (Standard) List of s Basic s Item -CA umber of controlled axes -axis -supply Voltage DC ±0% RCP Motor RCP3 Type Capacity (including control side RCP Motor current RCP Type consumption) (ote) 0P, 8P, 8SP MAX. A P, 6P MAX. A Description -CFA 60P, 86P Rated.A / MAX. 6A 8P, P, P, 6P High-thrust function is disabled High-thrust function is enabled MAX..A Rated 3.A / MAX..A 60P, 86P Rated.A / MAX. 6A for Electromagnetic Brake (for actuator equipped with brake) DC ±0% 0.A (MAX.) Heat Generation RCP, RCP3 W 6.W RCP, RCP 3W Rush Current (ote) 8.3A 0A Transient Cutoff Durability MAX. 00μs Motor Control System Weak field-magnet vector control Corresponding Encoder Incremental Encoder, Battery-less Absolute Encoder Resolution 800pulse/rev Actuator Cable Length MAX. 0m Serial Communication Interface (SIO Port) Interface Data Setting and Data Retention Memory PIO Field etwork umber of Positions in Positioner Mode Pulse Train Interface Pulse Frequency Command Pulse Multiplying Factor (Electrical Gear : A/B) Feedback Pulse LED Display (mounted on Front Panel) Electromagnetic Brake Compulsory Release Switch (mounted on Front Panel) RS8 : channel (based on Modbus Protocol RTU/ASCII) Speed : 9.6 to 30.Kbps Control available with serial communication in the s other than the pulse train I/O dedicated for DC (selected from P/PP) 6 points max., output 6 points max. Cable length MAX. 0m Deviceet, CC-Link, PROFIBUS-DP, Compoet, MECHATROLIK, EtherCAT, Etheret/IP, PROFIET-IO, Touch Panel Teaching, Saves position data and parameters to non-volatile memory (There is no limitation in number of writing) Positioner Mode/Pulse Train Control Mode (selected by parameter setting) Standard 6 points, MAX. points (PIO ) (ote) umber of positions differs depending on the selection in PIO pattern and fieldbus operation. Differential System (Line Driver System) : MAX. 00kpps Cable length MAX. 0m Open Collector System : ot applicable. * If the host applies the open collector output, prepare AK-0 (option) separately to convert to the differential type. /0 < A/B < 0/ Setting Range of A and B (set to parameter) : to 096 one SV (G)/ALM (RD) : Servo O/Alarm generated STS0 to 3 : Status display RDY (G)/ALM (RD) : Absolute function in normal / absolute function error (for the simple absolute type), 0 (G) (RD) : Absolute function status display (for the simple absolute type) Switching OM (standard)/bk RLS (compulsory release) Insulation Resistance 0 DC 0MΩ or more Protection Function against Electric Shock Class I basic insulation Weight (ote3) Incremental Type Screw fixed type : 0g or less DI rail fixed type : 8g or less Screw fixed type : 70g or less DI rail fixed type : 30g or less Simple Absolute Type (including 90g for battery) Screw fixed type : 0g or less DI rail fixed type : 8g or less Cooling Method atural air-cooling Forced air-cooling dimensions Screw fixed type : W H 69.D DI rail fixed type : W 8H 77.6D Screw fixed type : W 90H 69.D DI rail fixed type : W 96.3H 77.6D Environment Surrounding Air 0 to 0 C Surrounding Humidity 8%RH or less (non-condensing) Surrounding [Refer to Installation Environment] Environment Surrounding Storage -0 to 70 C (Excluding battery) Usage Altitude 000m or less Protection Class IP0 Vibration Durability Frequency 0 to 7Hz / Swing width : 0.07mm Frequency 7 to 0Hz / Acceleration 9.8m/s XYZ directions Sweep time : 0 minutes umber of sweep : 0 times ote Value increases in 0.3A for Fieldbus Type ote In-rush current will flow for approximately msec after the power is turned O (at 0 C). ote that the value of in-rush current differs depending on the impedance of the power supply line. ote3 Value increases in 30g for Field etwork Type.

2 ACO, DCO List of s Item ACO-CA/CB/CGB umber of controlled axes -axis -supply Voltage DC ±0% Series Capacity (including RCA, control side RCA, current RCL consumption) (ote) Motor Type Rated W 0.8A.6A W.0A 6.A 0W (RCL).3A 6.A 0W (RCA/ RCA).3A.A.A 0W.3A.A.A 0W (Model: 0S).7A 3.A.A 30W.3A.A.A Description DCO-CA/CB/CGB Max. Consumption MAX.(ote) Rated MAX. RCD 3W 0.7A.A for Electromagnetic Brake (for actuator equipped with brake) DC ±0% 0.A (MAX.) Heat Generation 8.W W Rush Current (ote) 0A Transient Cutoff Durability MAX. 00μs Motor Control System Sinusoidal Waveform (AC) Drive Rectangular Waveform (DC) Drive Corresponding Encoder Incremental Encoder Serial Absolute Encoder Battery-less Aboslute Encoder Incremental Encoder Corresponding RCA Incremental Type 800pulse/rev Encoder Resolution Serial Absolute Type 638pulse/rev RCA RCA_*** 08pulse/rev than RCA_*** 800pulse/rev RCA /RCA RCL Battery-less Absolute Type 638pulse/rev RA, RA, SA, SA 7pulse/rev RA, RA, SA, SA 8pulse/rev RA3, RA6, SA3, SA6 pulse/rev RCD 00pulse/rev Actuator Cable Length Serial Communication Interface (SIO Port) Interface PIO Type MAX. 0m RS8 : CH (based on Modbus Protocol RTU/ASCII) Speed : 9.6 to 30.Kbps Control available with serial communication in the s other than the pulse train I/O dedicated for DC (selected from P/PP) 6 points max., output 6 points max. Cable length MAX. 0m Field etwork Type Deviceet, CC-Link, PROFIBUS-DP, Compoet, MECHATROLIK, EtherCAT, Etheret/IP, PROFIET-IO Data Setting and, Touch Panel Teaching, Data Retention Memory Saves position data and parameters to non-volatile memory (There is no limitation to the number of times data may be written.) Positioner Mode/Pulse Train Control Mode (selected by parameter setting) umber of Positions in Positioner Mode Pulse Train Interface (ote) Pulse Frequency Command Pulse Multiplying Factor (Electrical Gear : A/B) Feedback Pulse LED Display (mounted on Front Panel) Electromagnetic Brake Compulsory Release Switch (mounted on Front Panel) Standard 6 points, MAX. points (PIO Type) (ote) umber of positions differs depending on the selection in PIO pattern. Differential System (Line Driver System) : MAX. 00kpps Cable length MAX. 0m Open Collector System : ot applicable. * If the host applies the open collector output, prepare AK-0 (option) separately to convert to the differential type. /0 < A/B < 0/ Setting Range of A and B (set to parameter) : to 096 Insulation Resistance 0 DC 0MΩ or more Protection Function against Electric Shock Class I basic insulation Weight (ote3) Incremental Type Screw fixed type : 30g or less ( than DI rail fixed type : 6g or less Field etwork Type) Simple Absolute Type Battery (AB-7) : 90g or less Absolute Battery Case (SEP-ABU): 0g or less Serial Absolute Type Battery (AB-) : 0g Cooling Method atural air-cooling dimensions Environment one SV (G)/ALM (RD) : Servo O/Alarm generated STS0 to 3 : Status display RDY (G)/ALM (RD) : Absolute function in normal / absolute function error (for the simple absolute type), 0 (G) (RD) : Absolute function status display (for the simple absolute type) Switching OM (standard)/bk RLS (compulsory release) Screw fixed type : W H 69.6D DI rail fixed type : W 8H 78.D Screw fixed type : W 90H 69.6D DI rail fixed type : W 96.3H 78.D Surrounding Air 0 to 0 C Surrounding Humidity 8%RH or less (non-condensing) Surrounding Environment [Refer to Installation Environment] Surrounding Storage -0 to 70 C (Excluding battery) Usage Altitude 000m or less Protection Class IP0 Vibration Durability Frequency 0 to 7Hz / Swing width : 0.07mm Frequency 7 to 0Hz / Acceleration 9.8m/s XYZ directions Sweep time : 0 minutes umber of sweep : 0 times ote Add an additional 0.3A inrush for Fieldbus Types. ote In-rush current will flow for approximately msec after the power is turned on (at 0 C). ote that the value of in-rush current differs depending on the impedance of the power supply line. ote3 Add the weight of the battery (case) for Simple Absolute Type and Serial Absolute Type. ote Serial absolute type is not applicable for the pulse train control. ote The current reaches the maximum at the excitation phase detection of the motor conducted when the servo is turned on for the first time after the power is supplied. (TYP to second, MAX. 0 second) Dimensions (All Types Except for -CFA) Screw fixed type Incremental Type Simplified Absolute Type Serial Absolute Type Side View 8.8 Refer to Basic φ 70. DI rail fixed type (0.) (8) φ 70. (3.) () φ 70. Incremental Type Simplified Absolute Type Serial Absolute Type Side View 93.6 Refer to Basic 8. 8 Screw fixed type (8) 8 () 8 Dimensions (-CFA Type) 90 (7) from DI rail center. (Width of mm DI rail) DI rail fixed type 90 (7) Installation Environment This product is capable for use in the environment of pollution degree * or equivalent. * Pollution Degree : Environment that may cause non-conductive pollution or transient conductive pollution by frost (IEC6066-). Installation Environment Do not use this product in the following environment Location where the surrounding air temperature exceeds the range of 0 to 0 C Location where condensation occurs due to abrupt temperature changes Location where relative humidity exceeds 8%RH Location exposed to corrosive gases or combustible gases Location exposed to significant amount of dust, salt or iron powder Location subject to direct vibration or impact Location exposed to direct sunlight Location where the product may come in contact with water, oil or chemical droplets Environment that blocks the air vent [Refer to Installation and oise Elimination] When using the product in any of the locations specified below, provide a sufficient shield. Location subject to electrostatic noise Location where high electrical or magnetic field is present Location with the mains or power lines passing nearby. Storage and Preservation Environment Storage and preservation environment follows the installation environment. Especially in a long-term storage, consider to avoid condensation of surrounding air. Unless specially specified, moisture absorbency protection is not included in the package when the machine is delivered. In the case that the machine is to be preserved in an environment where dew condensation is anticipated, take the condensation preventive measures from outside of the entire package, or directly after opening the package. Installation and oise Elimination. oise Elimination Grounding (Frame Ground) Screw fixed type Connect the ground line together to the main unit using the fixing screw. Copper wire: Connect a ground wire with a diameter of.6mm (mm ) or larger. Earth Terminal Grounding resistance 00Ω or less (Class D grounding) DI rail fixed type. Precautions regarding wiring method ) Wire is to be twisted for the DC power supply. ) Separate the signal and encoder lines from the power supply and power lines. 3. oise s and Elimination Carry out noise elimination measures for power devices on the same power path and in the same. The following are examples of measures to eliminate noise sources. ) AC solenoid valves, magnet switches and relays [Measure] Install a Surge absorber parallel with the coil. ) DC solenoid valves, magnet switches and relays [Measure] Install a diode parallel with the coil. Use a DC relay with a built-in diode. Connect the ground cable using the tapped hole for FG connection on the main unit. nickeled pan head machine screw (enclosure dedicated for DI rail fixed type) from DI rail center.(width of mm DI rail) Do not share the ground wire with or connect to other. Ground each controller. Surge absorber Relay coil R C Relay coil +

3 . Heat Radiation and Installation Design and Build the system considering the size of the controller box, location of the controller and cooling factors to keep the ambient temperature around the controller below 0 C Touch Panel Teaching (to be purchased separately) (to be purchased separately) Diagram Status Display LED to RCP (High-Thrust), RCA and RCL Series ACO Cable (ote) to RCP3, RCP, RCP and RCA Series ACO to RCD Series DCO Cable (ote) Cable (ote) Absolute Battery Unit [Refer to instruction manual for each l] AK -0 PLC (Please prepare separately) Actuator 00mm Ensure enough space for wiring. Stop Circuit Control/Driving ( DC Please prepare separately) 00mm 0mm I/O Control ( DC Please prepare separately) Way to lay out wirings differs depending on the specifications of the host when pulse train control (for PL and PLP types only). [Refer to Pulse Train Mode Operation described later.] ote Applicable Cable Model Codes : Cable Length Example) 030 = 3m Model ame Cable Reference RCP CB-PSEP-MPA Robot cable from 0. to 0m CB-APSEP-MPA Robot cable from 0. to 0m RCP3 CB-APSEP-MPA -LC Standard cable from 0. to 0m RCP ( than GR* Type) CB-CA-MPA -RB Robot cable from 0. to 0m RCD (Applicable Symbol : D3) CB-CA-MPA Standard cable from 0. to 0m RCP (GR Type), RCP RCD (Applicable Symbol : D) CB-CA-MPA CB-CA-MPA -RB Standard cable from 0. to 0m Robot cable from 0. to 0m High-Thrust CB-CFA-MPA Standard cable for CFA type from 0. to 0m CB-CFA-MPA -RB Robot cable for CFA type from 0. to 0m RCA, RCL (Incremental Type) CB-ASEP-MPA CB-ASEP-MPA Robot cable from 0. to 0m RCA (Serial Absolute Type) RCA CB-APSEP-MPA Robot cable from 0. to 0m and Stop Circuit This shows the circuit example when the emergency stop switch in the teaching pendant is enabled on the emergency stop circuit to be built up by the client. In the example below, uses -CA. It is the same in case of ACO and DCO. ote : ote : ote 3 : ote : Stop Reset Switch CR Caution Stop Switch Brake Forced Release Switch The safety categories complied type (CGB Type, etc.) is not equipped with the relay to have the controller automatically identify that a teaching tool was plugged in and switch the wiring layout. Those other than the safety categories complied type do the automatic identification and have S and S short-circuited. When the motor driving source is cut off externally for a compliance with the safety category, connect a contact such as a contactor to the wires between MPI and MPO. Also, the ratings for the emergency stop signal that turns O/OFF at the contact CR are DC and 0mA or less. The safety categories complied type is no drive cutoff circuit. For CR, select the one with coil current 0.A or less. If supplying power with using a DC, having it turned O/OFF, keep the connected and have the + supplied/cut (cut one side only). [Reference] Example for operating an actuator by using the standard type (CA or CB Type) with optimum wiring layout (ote) In this example, the emergency stop switch on the teaching pendant would not work. DC Wiring Condected at Delivery -stop Switch (ote ) CR S S MPI MPO EMG- EMG- BKLS S S MPI MPO BKLS Connector -CA Connector (ote ) -stop Switch on the SIO Connector Motor Control Supply Stop Control Circuit Brake Release (ote) Supply when connecting actuator equipped with brake and release brake compulsorily -stop Switch on the SIO Connector Motor Control Supply Stop Control Circuit Brake Release (ote) Supply when connecting actuator equipped with brake and release brake compulsorily (ote ) CR Explanation of I/O Functions I/O Category Abbreviated Code ame Contents of Functions CSTR PTP Strobe (Start ) Starts moving toward the position set in Command Position o. PC to PC6 Command Position o. To input position o. desired to move (binary input). BKRL Brake Compulsory Release To release the brake compulsorily. RMOD can be changed over when MODE Switch on the controller is on AUTO. Changeover (The setting is AUTO when signal is OFF, and MAU when O.) *STP Pause When this signal is turned OFF while in move, the actuator decelerates and then stops. The remaining movement is in a hold while the actuator is stopped and will resume when the signal turns back O. RES Reset Turn the signal O to reset the alarm. Also, when it is turned O in the pause (*STP is turned OFF), the remaining movement amount can be cancelled. SO Servo O The servo remains O while this signal is O, or OFF while this signal is OFF. HOME Home Return The controller will perform home return operation when this signal is turned O. MODE Teaching Mode The operating will change to the teaching when this signal is turned O. The will not be switched over unless CSTR, JOG+ and JOG are all OFF and the actuator operation is stopped. JISL Jog/Inching Changeover Jog Operation can be performed with JOG+ and JOG while this signal is OFF. Inching Operation is performed with JOG+ and JOG when it is O. JOG+ JOG PWRT ST0 to ST6 CSTP TL Jog Current Position Writing Start Compulsory Stop Torque Limit Select Jog Operation is performed to positive direction by detecting O edge of JOG+ signal and to negative direction by JOG signal while JISL signal is OFF. The actuator will decelerate and stop if OFF edge is detected while in each Jog Operation. Inching Operation is performed while JISL signal is O. Write the current position to the indicated position if indicating the written position and turn this signal O for more than 6ms during the Teaching Mode. The actuator moves to the commanded position with this signal O during the electromagnetic valve. Turning it continuously input for more than 6ms compulsorily stops the actuator. Puts torque limitation to the motor with the signal on and the value set to the parameter. DCLR Deviation Counter Clear This is the signal to clear up the differential counter. RSTR Datum Position Applies torque limit to the motor with the signal O and the value set to the Movement Command parameter o.67 Turns O in the positioning band range after actuator operation. The IP PED/IP Position Completion signal will turn OFF if the position deviation exceeds the in-position range. PED and IP can be switched over by the parameter. PM to PM6 Completion Position o. The position o. reached after the positioning completion, is output (binary output). HED Turns O when home-return operation is complete. It will be kept O Home Return Completion unless the home position is lost. ZOE Turns O if the current actuator position is within the range set to the Zone ZOE parameter. Turns O when the current actuator position gets into the range set to the PZOE Position Zone position data during the move towards the position. Even though it can be used together with ZOE, PZOE will become only available for operation by the set position number. RMDS s the operation status. It turns O when the controller is O Manual Mode. *ALM Alarm Turns O when controller in normal condition, and OFF when alarm is generated. The detail of the alarm is output with binary code when an alarm more than ALM to 8 Alarm Code the operation cancel level is issued. MOVE While in Operation Turns O while the actuator is moving (including home return and pressing operations). SV Servo O Turns O when the servo is O. *EMGS Stop Turns O when the controller emergency stop is cancelled, and OFF during the emergency stop (regardless of alarms). MODES Teaching Mode Turns O when it turns to the Teaching Mode by MODE signal input. It is OFF in the normal. It is OFF during the teaching and turns O when the writing by WED Writing Complete PWRT is complete. It turns OFF when PWRT turns OFF. PE0 to PE6 Turns O when moving to the target position is complete in Current Position umber Electromagnetic Valve Mode. Turns O when the current actuator position is within the range of LS0 to LS Limit Switch positioning band (±) of the target position. It is output even before the movement command and the servo is OFF if the home-return operation is completed. Light Error s when a message level alarm is generated. (Parameter setting necessary) LOAD (ote) TRQS (ote) *BALM (ACO only) Judgment Torque Level Absolute battery voltage drop alarm is made when the current exceeded the value set in Threshold for certain time (ote) within the range of Zone+ and Zone- in the position data during the pressing operation. (ote) Setting to be established in Parameter o. 0 It is used for judgments such as to determine if press-fitting process is completed normally. Turns O when the motor current has exceeded the value set in Threshold in the position table in such cases as the slider (or rod) hitting an obstacle while in pressing operation, and turns OFF when current goes below the value It turns on when the battery is in the normal voltage range for the serial absolute type actuator. It is on all the time for the incremental type actuator. It can be set to turn off when a message level alarm is generated by the setting in Parameter o.. TLR Torque Limit Restricted Turns O when torque reaches the limit while in torque restriction. Datum Position Turns O when movement to the datum position set in Parameter o.67 RED Movement Command is finished. with * expresses the signal of active low. It is O when the power is applied to the controller, and turns OFF when the signal is output. (ote ) It is a signal dedicated for High-Thrust Actuator (CFA Type). Use this as a reference output for other actuators.

4 Assignment for Each Mode The signal assignment of I/O flat cable by the PIO pattern is as shown below. Follow the following table to connect the external (such as PLC). Selection in Parameter o. (PIO Pattern) Category PIO Functions Positioning Teaching 6-point -point Electromagnetic valve Electromagnetic valve Pulse train control (For Incremental ) Pulse train control (For Battery-less Absolute umber of Positioning Points 6 points 6 points 6 points points 7 points 3 points Home Return Pin o. Jog Teaching (Current Position Writing) Brake Release during Operation Zone Δ (ote) Δ (ote) Position Zone A P A P 3A PP PP A /PP /PP A I0 PC PC PC PC ST0 ST0 SO SO 6A I PC PC PC PC ST ST (JOG+) RES RES 7A I PC PC PC PC ST ST (ote) HOME HOME 8A I3 PC8 PC8 PC8 PC8 ST3 TL TL 9A I PC6 PC6 PC6 PC6 ST CSTP CSTP 0A I PC3 PC3 PC3 PC3 ST DCLR DCLR A I6 MODE PC6 PC6 ST6 BKRL BKRL A I7 JISL PC8 P8 RMOD RMOD 3A I8 JOG+ PC6 RSTR A I9 BKRL JOG BKRL BKRL BKRL BKRL A I0 RMOD RMOD RMOD RMOD RMOD RMOD 6A I HOME HOME HOME HOME HOME 7A I *STP *STP *STP *STP *STP 8A I3 CSTR CSTR/PW RT CSTR CSTR 9A I RES RES RES RES RES RES 0A I SO SO SO SO SO SO B OUT0 PM PM PM PM (ALM) (ALM) (ALM) (ALM) PE0 LS0 PWR PWR B OUT PM PM PM PM LS PE (ALM) (ALM) (ALM) (ALM) (TRQS) SV SV 3B OUT PM PM PM PM (ALM) (ALM) (ALM) (ALM) PE LS (ote) IP IP B OUT3 PM8 PM8 PM8 PM8 (ALM8) (ALM8) (ALM8) (ALM8) PE3 HED HED B OUT PM6 PM6 PM6 PM6 PE TLR TLR 6B OUT P P P P PE *ALM *ALM 7B OUT6 MOVE MOVE PM6 PM6 PE6 *EMGS *EMGS 8B OUT7 ZOE MODES PM8 PM8 ZOE ZOE RMDS RMDS PZOE/ PZOE/ PZOE/ PZOE/ PZOE/ 9B OUT8 PM6 ALM ALM ZOE ZOE ZOE ZOE ZOE 0B OUT9 RMDS RMDS RMDS RMDS RMDS RMDS ALM ALM B OUT0 HED HED HED HED HED HED ALM ALM B OUT PED PED/ WED PED PED PED ALM8 ALM8 3B OUT SV SV SV SV SV SV B OUT3 *EMGS *EMGS *EMGS *EMGS *EMGS *EMGS RED B OUT *ALM *ALM *ALM *ALM *ALM *ALM ZOE ZOE 6B OUT (ote3) *BALM/ ZOE 7B P P 8B /P /P 9B 0B (ote) * in codes above shows the signal of the active low. PM to PM8 indicate the alarm binary code output signal when an alarm is generated. [Refer to the Instruction Manual for the details] (ote ) The setting can be changed over to PZOE if set in the parameter setting. (ote ) It is invalid before home-return operation. (ote 3) *BALM is dedicated for ACO. PIO and Interface section section voltage DC±0% voltage DC current ma circuit Peak load electric current 0mA/ point O/OFF voltage MAX. ma/ point () O voltage 8V DC Leak Current MAX. ma/ point OFF voltage MAX. 6V DC (ACO, DCO) P PP DC DC P 680.6K Terminal Terminal.6K 680 P Terminal P Terminal DC DC ZOE P Pin o. I/O Cable Model : CB-PAC-PIO (Enter the cable length (L) in Example. 00 = m) BK- o treatment conducted BR-3 BK- o treatment conducted BR- PP o. ame Cable Color Wiring o. ame Cable Color Wiring A BR- B OUT0 BR-3 A RD- B OUT RD-3 3A PP OR- 3B OUT OR-3 A /PP YW- B OUT3 YW-3 A I0 G- B OUT G-3 6A I BL- 6B OUT BL-3 7A I PL- 7B OUT6 PL-3 8A I3 GY- 8B OUT7 GY-3 9A I WT- Flat Cable A 9B OUT8 WT-3 0A I BK- (Insulation-Displacement 0B OUT9 BK-3 A I6 BR- Connectors) B OUT0 BR- A I7 RD- AWG8 B OUT RD- 3A I8 OR- 3B OUT OR- A I9 YW- B OUT3 YW- A I0 G- B OUT G- 6A I BL- 6B OUT BL- 7A I PL- 7B P PL- 8A I3 GY- 8B /P GY- 9A I WT- 9B WT- 0A I BK- 0B BK- Operation in Pulse Train Control Mode (function for PL and PLP Types only) Flat Cable B (Insulation-Displacement Connectors) AWG8 Pulse Train and Interface Category Abbreviated Code ame Contents of Functions PP, /PP P, /P Command Pulse s the command pulse train. pulse frequency differs depending on the type. [Refer to Basic s] When Host Unit is Differential System (Although the example shows, it is the same for ACO and DCO.) Host Unit PIO Connector Positioning Unit Pulse Command (Line Driver: 6C3 or equiv.) ote : Use the same power source () for the host open collector output, AK-0. When Host Unit is Open Collector System [AK-0 (option) is required] (Although the example shows, it is the same for ACO and DCO.) Host Unit Positioning Unit Pulse Command DC ote : ) Use the same power source () for the host open collector output, AK-0. ) Have the cables as short as possible between the host unit and AK-0. Flat Cable (0-core) PP /PP 3 PP P 3 P /P L 3A A 7B 8B Pulse Converter AK-0 (to be purchased separately) B A PP /PP P /P 3A A 7B 8B 9B 0B Pin o. 0A A 0B B Half Pitch MIL Socket HIF6-0D-.7R (Hirose Electric) PIO Connector PP /PP P /P Starting Procedures When using this product for the first time, make sure to avoid mistakes and incorrect wiring by referring to the procedure below. PC stated in this section means PC software. Check of Packed Items o Contact us or our distributor. Are there all the delivered items? Installation and Wiring Perform the installation of and wiring for the actuator and controller. and Alarm Check Connect a teaching tool such as PC, turn the operation setting switch to MAU side and turn the power O for unit. Select [Teaching Mode Safety Speed Activated / PIO Operation Invalid] in the teaching tool such as PC. [In the case of Positioner Mode] PIO Pattern Settings Set the used PIO pattern to Parameter o.. Safety Speed Setting Set the Parameter o. if necessary. The safety speed is set to 00mm/s at the delivery. Servo O Turn the servo O with the operation on the teaching tool such as PC. Is the Status Display LED turned O in green [SV]? Any vibration or abnormal noise? Point Is frame ground (FG) connected? Has the noise countermeasure been taken? Is the Status Display LED turned OFF? o o o Have the settings and checks suitable for the used selected from Positioner Mode and Pulse Train Control Mode below. Caution Please perform this process with the actuator away from the mechanical end or interfering subjects as much as possible. Put the actuator away if it interferes with surroundings. It may generate an alarm if the actuator hit the mechanical end or interfering subjects when the servo is turned O. The slider may get slightly dropped by self-weight if servo O and OFF is repeatedly performed at the same position. Be careful not to pinch the hand or damage the work. Safety Circuit Check Does the emergency stop circuit (drive cutoff circuit) work properly and turn the servo OFF? o Connect the teaching tool such as PC to confirm the content of alarm and have an appropriate treatment. If an alarm is generated, connect the PC or teaching pendant and check the content of the alarm to have the right treatment. Check the emergency stop circuit. Target Position Setting Set the target position in Position Box in each position table. Perform a home-return operation first when Direct Teaching is to be performed. When moving the actuator manually, set the Brake Release Switch to BK RLS side for the brake equipped type. Put the switch back after the setting is complete. Warning Be careful not to pinch fingers or damage the work with the dropped actuator when releasing the brake in vertical orientation. Test Run Adjustment Check the operation without mounting a work and set the safety speed invalid on the teaching tool such as PC, and then check the operation with a work mounted. Caution To ensure safety, it is recommended that safety speed be enabled during initial movements. Test Run Adjustment ) Set the operation setting switch to AUTO. ) the operation command from PLC to the controller and check the system operation. [In the case of Pulse Train Control Mode (for PL and PLP types only)] Test Run Adjustment [ MAU] Check with a teaching tool such as the PC software with no work being loaded, and check the operation range with JOG operation with the work being loaded. Is the Status Display LED turned O in green [SV]? Check if there is any problem with the installation of the actuator and the condition of the actuator use exceeds the ranges of the rated values. Adjust the servo if necessary. PIO Pattern Settings Set the used 6 Pulse train control or 7 Pulse train control for Battery-less Absolute to Parameter o.. Set the Electronic Gear [Refer to Instruction Manual] Set the electronic gear ratio based on the amount of actuator operation per pulse in Parameters o.6 and 66. Is the minimum unit of operation set to the value bigger than the minimum resolution of the encoder? Is the fraction of the electronic gear ratio reduced to its lowest terms? Is there any risk of interfering with peripheral? Can the positioning operation be performed normally? Is it in condition without o any vibration and abnormal noise? Pulse Train Mode Setting [Refer to Instruction Manual] Set the command pulse train input status for the parameter o.63 and o.6. Put Setting Switch to AUTO side when the setting is complete. Servo O servo O signal from PLC. Safety Circuit Check Check that the emergency stop circuit (or motor drive-power cutoff circuit) operates normally to turn OFF the servo. Test Run Adjustment [ AUTO] the pulse train from PLC to the controller and check the system operation. o Confirm the content of alarm on the teaching tool such as PC to have an appropriate treatment. o Test Run Adjustment 3 Check the system operation conducted by PLC. Check if there is any problem in the way of actuator mount. o Check the electronic gear ratio setting. Confirm the command pulse train input setting. Confirm that there is no problem in the actuator installation, the actuator operation condition demands a voltage more than rated voltage, and appropriate pulse trains are input.

5 Action to Take When Error Occurred Shown below are the alarms that you may often see after power up. Have an appropriate treatment following the instructions below. Please refer to the Instruction Manual for other alarms. Error Code Error Description Cause and Treatment 069 0B8 0E 0E8 0EE 0A Real Time Clock Operation Stop Detection Excitement Detection Error Encoder Receive Error A- and B-Phases Breakage Error Absolute Encoder Error Detection Servo OFF While in Operation It indicates the calendar function has stopped and the current time data has lost. Have the clock settings again from the teaching tool. The detection of excitation is conducted when the servo is turned O for the first time after the power is supplied. The status is that the detection did not complete even after a certain time (set in Parameter o.9) was passed. ) error or wire breakage of motor/encoder cables ) Brake is not released (when equipped with a brake). 3) to the motor is high due to external force. ) was turned on while touching to the mechanical end. ) The slide resistance of the actuator itself is large. Those described above can be considered. This error code appears when the right signal was not received from the encoder side to the controller command. Check if any wire breakage on a connector and the condition of wire connections. If no error is generated under the condition that the power to all the peripheral is shut and operate only this controller and the actuator, noise can be considered as the cause of the problem. It is the condition that the encoder signal is not properly detected. Check if any wire breakage on a connector and the condition of wire connections. This error code appears when the absolute encoder PCB cannot detect the position information properly. The voltage for the absolute data battery is dropped. Check the battery alarm output on PIO, and if it is off, replace the battery. Perform Absolute Reset after the replacement. Check the encoder cable connection. It shows the operation command was generated in the condition that the servo is OFF. Resume the operation after turning the servo O. Head Office: 77- Obane Shimizu-KU Shizuoka City Shizuoka -003, Japan TEL FAX website: Technical Support available in USA, Europe and China Head Office: 690 W. 37th Street, Torrance, CA 900 TEL (30) FAX (30) Chicago Office: 0 East State Parkway, Schaumburg, IL 6073 TEL(87) FAX (87) Atlanta Office: 0 Kennestone Circle, Suite 08, Marietta, GA TEL (678) -970 FAX (678) -97 website: Ober der Röth, D-68 Schwalbach am Taunus, Germany TEL FAX SHAGHAI JIAHUA BUSIESS CETER A8-303, 808, Hongqiao Rd. Shanghai 00030, China TEL FAX website: 8 PhairojKijja Tower th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 060, Thailand TEL FAX Manual o.: ME088-8A